There are two major bay area stations that broadcast in high-band VHF, KGO/ABC (rf 7, virtual 7) and KNTV/NBC (rf 12, virtual 11). So you really need an antenna that can do high-band VHF as well as UHF. The good news for someone living in Richmond is that the two major towers, sutro and san bruno st park, are within a few degrees of each other. So if you can swing a fairly directional attic or rooftop antenna, you would probably get great reception on all major channels.
I live in N. Berkeley so not far off from Richmond. I did a self-install of a rooftop antenna so I don't know of any companies that will do that for you, but they must exist. For DVRs, tivo is still the leader, but I really don't like their $15 fee and extremely crappy built-in apps. They were a technology leader years ago, but not today. You could look at simple.tv or tablo for OTA DVRs. Both have cheaper subscriptions compared to tivo but they might not be around in a few years.